JPH0625444Y2 - Stacker crane traveling device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a traveling device of a stacker crane for loading and unloading luggage on and from shelves in a three-dimensional automated warehouse or the like.

[Prior Art] In a three-dimensional automated warehouse, luggage is moved in and out of shelves while traveling between shelves provided in multiple stages and using a stacker crane having a lifting platform.

In the conventional stacker crane, the lower drive wheels attached to the lower part of the main frame of the stacker crane and rotated by the drive device rotate between the shelves by rotating and moving on the lower rails laid on the ground. It was.

An upper rail is arranged directly above the lower rail in parallel with the lower rail, and the upper driven wheel attached to the upper part of the body frame of the stacker crane is driven to rotate along the upper rail, and I was trying not to fall.

[Problems to be Solved by the Invention] In a conventional stacker crane, lower drive wheels are rotationally driven to travel, and only driven wheels are attached to the upper part of the body frame of the stacker crane. Therefore, the body frame sways when the stacker crane is running and when it stops, the rotation of the motor that drives the lower drive wheels is disturbed by the sway, and smooth stop cannot be performed and the accuracy of the stop position deteriorates. Sometimes the stacker crane swayed and the luggage hit the pillars of the shelf, making it impossible to load or unload. Also, because the body frame sways, it was not possible to increase the running speed. Therefore, the swaying of the stacker crane has been a cause of reduced efficiency of warehouse work. Furthermore, as the height of stacker cranes tends to increase due to the increase in size of three-dimensional automated warehouses in recent years,
The problems tend to be exacerbated.

An object of the present invention is to provide a traveling device for a stacker crane in which the main body frame of the stacker crane is not shaken, the accuracy of the stop position is improved, and the traveling speed can be increased.

[Means for Solving the Problems] The stacker crane traveling device of the present invention comprises a lower rail laid on the ground, an upper rail arranged directly above the lower rail and in parallel with the lower rail, and a stacker crane A lower drive wheel that is attached to a lower portion of the main body frame and rotates and moves on the lower rail, a lower drive device that rotationally drives the lower drive wheel, and an upper drive that is attached to an upper portion of the main body frame and is pressed against the upper rail. It is characterized by comprising a wheel and an upper drive device for rotationally driving the upper drive wheel at the same peripheral speed as the peripheral speed of the lower drive wheel.

[Operation] The upper part of the main body frame of the stacker crane is also driven by the upper drive wheels and moves along the upper rail at the same speed as the lower part, so that the upper part of the main body frame does not freely displace with respect to the upper rail. Does not shake.

[Embodiment] An embodiment of the present invention will be described below with reference to the drawings.

In FIG. 4, reference numeral 1 denotes a shelf provided inside the three-dimensional automated warehouse, which is capable of storing luggage in multiple stages upward and is long in the vertical direction with respect to the paper surface of FIG. It is extended. A lower rail 2 is laid along the front surface of the shelf 1 on the ground in the three-dimensional automatic warehouse.
An upper rail 3 is attached directly to the uppermost binding member 4 of the left and right shelves 1 and is arranged in parallel with the lower rail 2.

In FIGS. 4 and 5, reference numeral 5 is a stacker crane, which is provided with a rectangular main body frame 6 which is long in the vertical direction. A lower driven wheel 7 and a lower drive wheel 8 are rotatably attached to the lower portion of the main body frame 6 so as to rotate on the lower rail 2. And lower drive wheel 8
Is driven to rotate by a lower drive unit 11 including a motor 9 and a speed reducer 10. An upper driven wheel 12 is rotatably attached to the upper portion of the body frame 6, and the upper driven wheel 12 is rotatably moved along the side surface of the upper rail 3.

A hoisting chain 13 is provided on the body frame 6 so as to be hoisted up and down, and is hoisted and unwound by a hoisting device 14.
Suspended by 15. A slide-out fork 16 that moves horizontally in the direction of the shelf 1 is attached to the hoisting and loading platform 13, and a load 17 can be placed on it. The stacker crane 5 is moved along the lower rail 2 and the upper rail 3, and the hoisting device 14 winds or unwinds the hoisting chain 15 to adjust the height of the hoisting platform 13, and then the slide-out fork 16 is shelved. By moving in the direction of 1, the luggage 17 can be taken in and out at any place on the shelf 1.

Although the structure described above is the same as that of the conventional stacker crane, the stacker crane 5 of the present invention further has the upper drive wheel 18 mounted on the upper portion of the main body frame 6 side by side with the upper driven wheel 12.

The structure for mounting the upper drive wheel 18 is shown in FIGS.
More specifically, referring to the drawings, a bearing base 19 (see FIGS. 2 and 3) is fixed to the upper front part of the main body frame 6, and the bearing base 19 is fixed.
A pair of pins 20 vertically provided on the base supports the proximal ends of a pair of short levers 21. A bearing tube 22 is fixed to each tip of the lever 21, and a rotary shaft 23 that vertically penetrates the center of the bearing tube 22 is supported by the roller bearing 24 (see FIG. 1) on the bearing tube 22. ing. Each rotation axis
The above-mentioned upper drive wheel 18 is fixed to the upper end of 23, and an elastic body 25 is attached to the outer periphery of the upper drive wheel 18 as shown in FIG.

A base end of a long lever 26 is fixed to the bearing tube 22 as shown in FIG. A tip of a rod 27 is attached to one end of a pair of levers 26. The rod 27 penetrates the other lever 26 and is supported by a nut 28 screwed to the base end side of the rod 27. A spring 30 is supported between the washer 29 and the other lever 26. The spring 30 biases the tips of the pair of levers 26 toward each other,
The pair of upper drive wheels 18 are in pressure contact with the side surface of the upper rail 3.

As shown in FIG. 2, an upper traveling device frame 31 is fixed to the body frame 6, and a motor 32 (see FIG. 1) and a speed reducer 33 are attached to the upper traveling device frame 31. A timing belt 36 is stretched between a pulley 34 fixed to the rotation shaft of the motor 32 and an input side pulley 35 of the speed reducer 33, so that the output side of the speed reducer 33 and the upper drive wheels 18 rotate. A constant velocity universal joint 37 is attached between the lower end of the shaft 23 and the lower end. The motor 32, the pulley 34, the timing belt 36, the input side pulley 35, the speed reducer 33, the constant velocity universal joint 37, and the rotary shaft 23 described above constitute an upper drive device, and 38 in FIG. 5 is an upper drive device. This is a safety fence for inspection.
The motor 32 is operated synchronously with the motor 9 of the lower drive unit 11,
The pair of upper drive wheels 18 are rotationally driven in mutually opposite directions and at the same peripheral speed as that of the lower drive wheels 8.

In FIG. 4 and FIG. 5, 39 is a control panel, which is a motor 9,
It is possible to control 32, hoisting device 14 and sliding fork 16. Further, in FIGS. 1 to 3, reference numeral 40 denotes a rubber buffer mount, to which a rubber buffer 41 for traveling end is mounted.

When the control operation is performed by the control panel 39 in order to drive the above-mentioned stacker crane 5 along the lower rail 2 and the upper rail 3, the motor 9 of the lower drive device 11 and the motors mounted on the upper travel device frame 31 are driven. 32 and 32 are driven at the same time and stopped at the same time. Therefore, the lower drive wheel 8 and the upper drive wheel 18 are driven to rotate at the same rotational peripheral speed at the same time, and the rotation is stopped at the same time. At this time, since the weight of the stacker crane 5 is loaded on the lower drive wheel 8, no slip occurs between the lower drive wheel 8 and the lower rail 2. Further, the nut 28 shown in FIG. 3 is rotated to appropriately adjust the elastic force of the spring 30, so that the elastic body 25 (see FIG. 1) of the upper drive wheel 18 is moved to the upper rail 3.
It is possible to prevent slippage between the upper drive wheel 18 and the upper rail 3 by appropriately selecting the force to be pressed against the side surface of the upper rail 3. As a result, the upper and lower parts of the body frame 6 move in the same direction at the same speed, and stop at the same deceleration.

[Effect of the Invention] In the present invention, since the upper and lower parts of the body frame of the stacker crane move in the same direction at the same speed and stop at the same deceleration, the upper part of the body frame shakes during traveling and when stopped. The stacker crane runs smoothly, and the stacker crane can run smoothly, speed up, accelerate, and decelerate, the accuracy of the stop position is improved, and you don't have to load or unload luggage until the body frame stops shaking. Therefore, the efficiency of cargo handling work is improved. Also, since it does not shake, the body frame can be made thinner, and the stacker crane can be made lighter.

[Brief description of drawings]

1 is a front view showing a part of an essential part of one embodiment of the present invention, FIG. 2 is a side view seen from II-II of FIG. 1, and FIG.
The drawing is a cross-sectional plan view taken along the line III-III in FIG. 2, FIG. 4 is a front view of the stacker crane, and FIG. 5 is a side view seen from VV in FIG. In the figure, 2 is a lower rail, 3 is an upper rail, 5 is a stacker crane, 6 is a main frame, 8 is a lower drive wheel, 11 is a lower drive device, 18 is an upper drive wheel, 23 is a rotary shaft, 32 is a motor, 33 is a reducer, 34 is a pulley, 35 is an input side pulley,
36 is a timing belt and 37 is a constant velocity universal joint.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Noriyuki Torii 1-1, Kandaogawamachi, Chiyoda-ku, Tokyo Within Ishikawajima Transporter Co., Ltd. Transport Equipment Co., Ltd. (56) Reference JP-A-51-10573 (JP, A) Actually open 51-11579 (JP, U) Actually open 57-53480 (JP, U) Actually open 58-34877 ( JP, U)

Claims (1)

[Scope of utility model registration request] 1. A lower rail laid on the ground, an upper rail arranged directly above the lower rail and in parallel with the lower rail, and mounted on a lower portion of a body frame of a stacker crane to rotate on the lower rail. A lower drive wheel that moves,
A lower drive device that rotationally drives the lower drive wheel, an upper drive wheel that is attached to the upper part of the main body frame and is pressed against the upper rail, and the upper drive wheel rotates at the same rotational peripheral speed as the lower drive wheel. A traveling device for a stacker crane, comprising: an upper drive device that is rotationally driven at a peripheral speed.